CN115837963A - A stabilize compensation platform for ocean engineering - Google Patents
A stabilize compensation platform for ocean engineering Download PDFInfo
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- CN115837963A CN115837963A CN202211597588.4A CN202211597588A CN115837963A CN 115837963 A CN115837963 A CN 115837963A CN 202211597588 A CN202211597588 A CN 202211597588A CN 115837963 A CN115837963 A CN 115837963A
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- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 238000013016 damping Methods 0.000 claims abstract description 22
- 230000009467 reduction Effects 0.000 claims abstract description 12
- 239000012530 fluid Substances 0.000 claims description 35
- 239000003921 oil Substances 0.000 claims description 15
- 239000010720 hydraulic oil Substances 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 abstract description 7
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 230000005284 excitation Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
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Abstract
The invention discloses a stable compensation platform for ocean engineering, which comprises a passive inertial volume damping mechanism, an active hydraulic compensation platform arranged above the passive inertial volume damping mechanism, a rotary table arranged in the middle position above the active hydraulic compensation platform, and a rotary driving mechanism connected with the rotary table, wherein an attitude sensor is also arranged above the active hydraulic compensation platform and below the rotary table, and the attitude sensor, the passive inertial volume damping mechanism and the active hydraulic compensation platform are arranged on the rotary table; the invention has the advantages that the passive inertial capacitance vibration reduction mechanism with six degrees of freedom is adopted, high-frequency low-amplitude vibration in all directions can be reduced, the passive inertial capacitance vibration reduction mechanism is combined with an active hydraulic compensation platform, the swinging in three directions of rolling, yawing and pitching caused by sea waves can be compensated, the supporting columns are added to support most of weight, the energy consumption is reduced, and the power required by the hydraulic lifting mechanism is further reduced.
Description
Technical Field
The invention relates to the technical field of stable platforms, in particular to a stable compensation platform for ocean engineering.
Background
In ocean engineering operation, a marine vessel generates heave, sway, surge, yaw, roll and pitch with lower frequency and larger amplitude under the excitation of sea waves, as shown in fig. 1; meanwhile, the ship body also generates vibration with higher frequency and smaller amplitude under the influence of sea wind and other equipment such as an engine and the like; the stable compensation platform is an anti-swing vibration damper commonly used for important equipment on a ship, for example, a crane arranged on a crane ship needs to be additionally arranged to reduce the swing influence of sea wave excitation on the hoisting weight; the radar installed on the warship needs a stable working environment and also needs protection of a stable compensation platform;
the traditional scheme is that a pure active six-degree-of-freedom compensation platform or a simple buffer damping device is adopted, for example, fig. 2 shows a six-degree-of-freedom (pure) active compensation platform commonly used by a marine vessel, which is similar to a Stewart platform structure, 6 oil cylinder piston rods support an upper platform (a movable platform) in a mode of connecting long edges and short edges, and can compensate the swing of all 6 degrees of freedom, and according to the stable compensation platform scheme, because the load is completely supported by the 6 oil cylinder piston rods, the weight of a crane is huge, the energy consumption is large, and a hydraulic driving device with larger power is needed for compensation, so the cost is increased; in the working process, the ship body is difficult to generate vibration in the face of excitation of sea waves, sea winds and other moving parts, and the scheme can not be used for vibration compensation; and for the scheme of adopting a simple buffering damping device, the vibration cannot be well isolated, and the sea wave excitation cannot be compensated;
in view of the above, we have devised an improvement to the existing compensation platform to meet the needs of the ocean engineering operation.
Disclosure of Invention
The invention aims to design a stable compensation platform to solve the problems that the traditional scheme has high energy consumption and high cost and can not isolate the vibration of a ship body in the ocean engineering operation, and particularly relates to the stable compensation platform for the ocean engineering.
The technical scheme of the invention is that the stable compensation platform for ocean engineering comprises a passive inertial volume damping mechanism, an active hydraulic compensation platform arranged above the passive inertial volume damping mechanism, a rotary table arranged in the middle position above the active hydraulic compensation platform and a rotary driving mechanism connected with the rotary table, wherein an attitude sensor is also arranged above the active hydraulic compensation platform and below the rotary table, and the attitude sensor, the passive inertial volume damping mechanism, the active hydraulic compensation platform and the rotary driving mechanism are connected with an active chip; and ocean engineering equipment is arranged on the turntable.
The technical scheme is further supplemented, the passive inertial container vibration reduction mechanism comprises a base, a plurality of fluid inertial containers, springs, a limiting buffer mechanism and a middle platform, wherein the fluid inertial containers are arranged above the base and located on the outer circumference of the base, the springs are arranged on the fluid inertial containers and connected with the fluid inertial containers, the limiting buffer mechanism is arranged at the center of the base, the middle platform is arranged above the fluid inertial containers and the limiting buffer mechanism, the lower ends of the fluid inertial containers are connected with the base through universal joints, the upper ends of the fluid inertial containers are connected with the middle platform through ball hinges, the lower ends of the limiting buffer mechanism are connected with the base through the universal joints, and the upper ends of the limiting buffer mechanism are connected with the middle platform through the ball hinges.
Further supplementing the technical scheme, the number of the fluid inertial containers is 6, and the 6 fluid inertial containers are symmetrically arranged on the left side and the right side of the base.
The technical scheme is further supplemented, the limiting buffer mechanism comprises a limiting inertial volume cylinder and a limiting inertial volume rod connected with the limiting inertial volume cylinder, the lower end of the limiting inertial volume cylinder is connected with the base through a universal joint, and the upper end of the limiting inertial volume rod is connected with the middle platform through a ball hinge.
The technical scheme is further supplemented, the active hydraulic compensation platform comprises a plurality of hydraulic lifting mechanisms evenly distributed on the middle platform, a support column arranged at the center position above the middle platform, and an upper platform arranged above the hydraulic lifting mechanisms and the support column, the rotary table is arranged above the upper platform, the upper end of the hydraulic lifting mechanism is connected with the upper platform through a universal joint, the lower end of the hydraulic lifting mechanism is connected with the middle platform through a universal joint, the lower end of the support column is fixedly connected with the middle platform, the upper end of the support column is connected with the upper platform through a universal joint, and the attitude sensor is arranged on the upper platform.
In addition to the technical scheme, four hydraulic lifting mechanisms are arranged and are evenly distributed on the middle platform.
In addition to the technical scheme, the hydraulic lifting mechanism (21) comprises a hydraulic oil cylinder (211), an oil cylinder piston rod (212) connected with the hydraulic oil cylinder (211), and an inertial container (213) arranged below the hydraulic oil cylinder (211); the oil cylinder piston rod (212) is connected with the upper platform (23) through a universal joint, and the lower end of the inertial container (213) is connected with the upper surface of the middle platform through the universal joint.
The technical proposal is further supplemented, and the rotary driving mechanism is arranged in the turntable.
The passive inertial capacity vibration reduction mechanism with six degrees of freedom has the advantages that high-frequency low-amplitude vibration in all directions can be reduced by adopting the passive inertial capacity vibration reduction mechanism with six degrees of freedom, the passive inertial capacity vibration reduction mechanism is combined with an active hydraulic compensation platform, the swinging in three directions of rolling, yawing and pitching caused by sea waves can be compensated, in addition, the support columns are added, most of weight can be supported, the energy consumption is reduced, and the power required by a hydraulic lifting mechanism is further reduced.
Drawings
FIG. 1 is a diagram of a marine vessel under operating conditions;
FIG. 2 is a schematic diagram of a prior art structure;
FIG. 3 is a first angular configuration of the present invention;
FIG. 4 is a second angular configuration of the present invention;
fig. 5 is a hydraulic schematic diagram of the active compensating portion of the present invention.
In the figure, 1, a passive inertial volume damping mechanism; 11. a base; 12. a fluid inerter; 13. a spring; 14. a limiting buffer mechanism; 141. a limiting inertial volume cylinder; 142. a limit inertial volume rod; 15. a middle platform; 2. an active hydraulic compensation platform; 21. a hydraulic lifting mechanism; 211. a hydraulic cylinder; 212. a cylinder piston rod; 213. an inerter; 22. a support pillar; 23. an upper platform; 3. a turntable.
Detailed Description
Firstly, the original design of the invention is explained, although the existing compensation platform can compensate the swing of 6 degrees of freedom when being applied to ocean engineering, because the load is completely supported by 6 oil cylinder piston rods, the weight of a crane and the like is very large, the energy consumption for compensation is very large, secondly, a hydraulic driving device with higher power is needed, the cost is increased, and the use effect is not good.
The invention is different from the prior art (figure 2), a passive inertial volume damping mechanism is added on the basis of the prior art (figure 2), and design improvement innovation is made on the structure of an active hydraulic compensation platform 2; because the rolling in the rocking of ship, the yawing, the pitching, the swaying of four directions of heaving is the biggest, wherein the influence of heaving is compensated through traditional mode easily and need not platform repeated compensation in addition, sway of two other directions is less, can subdue the influence through passive inertia volume damping mechanism and need not middle support column 22 and provide main holding power, hydraulic pressure elevating system 21 only need adjust the drive power of gesture and need not hold up whole load, support column 22 can support most weight, reduce the energy consumption, can further reduce hydraulic pressure elevating system 21's service power, this technical scheme is combined with initiative hydraulic pressure compensation platform 2 through passive inertia volume damping mechanism 1, can realize the integrative function of damping compensation.
In order to facilitate the technical solution to be more clear to those skilled in the art, the specific structure and principle of the above mechanisms will be described below with reference to fig. 3-5:
as shown in fig. 3-5, a stable compensation platform for ocean engineering includes a passive inertial container damping mechanism 1, an active hydraulic compensation platform 2 disposed above the passive inertial container damping mechanism 1, a turntable 3 disposed at a middle position above the active hydraulic compensation platform 2, and a rotation driving mechanism (not shown) connected to the turntable 3, wherein the rotation driving mechanism is disposed in the turntable 3, and is driven by a motor in detail; an attitude sensor (not shown) is arranged above the active hydraulic compensation platform 2 and below the rotary table 3 and can detect the attitude of the upper platform 23, and the attitude sensor, the passive inertial volume damping mechanism 1, the active hydraulic compensation platform 2 and the rotary driving mechanism are connected with an active chip; the active chip can monitor the working states of the attitude sensor, the passive inertial volume damping mechanism 1, the active hydraulic compensation platform 2 and the rotary driving mechanism and control the working of the attitude sensor, the passive inertial volume damping mechanism and the rotary driving mechanism; ocean engineering equipment (such as a crane and the like) is arranged on the turntable 3, when the passive inertial container vibration reduction mechanism 1 works, vibration in all six directions can be reduced, and the active hydraulic compensation platform 2 can compensate swing of a ship body in three directions of rolling, yawing and pitching, so that the vibration reduction and compensation integrated function is realized.
The structure of the passive inerter vibration reduction mechanism 1 is explained in detail below, and the passive inerter vibration reduction mechanism comprises a base 11, a plurality of fluid inerters 12 arranged above the base 11 and positioned on the outer circumference of the base, a spring 13 arranged on the fluid inerters 12 and connected with the fluid inerters, a limiting buffer mechanism 14 arranged at the central position of the base 11, and a middle platform 15 arranged above the fluid inerters 12 and the limiting buffer mechanism 14, wherein the lower end of the fluid inerter 12 is connected with the base 11 through a universal joint, the upper end of the fluid inerter 12 is connected with the middle platform 15 through a ball hinge, the lower end of the limiting buffer mechanism 14 is connected with the base 11 through a universal joint, and the upper end of the limiting buffer mechanism is connected with the middle platform 15 through a ball hinge;
as shown in fig. 1, wherein the fluid inerter 12 is inclined to the outside along the direction from top to bottom, in detail, the hinge point of the fluid inerter 12 and the base 11 is located at the circumferential edge position of the base and is arranged at intervals along the circumferential direction of the base 11, the hinge point of the fluid inerter and the middle platform 15 is located at the circumferential edge position of the middle platform 15 and is arranged at intervals along the circumferential direction of the middle platform 15, and the positions of the hinge point of the fluid inerter and the middle platform 15 are different from the positions of the hinge point of the fluid inerter 15 and the base 11; the fluid inerter can incline in the vertical direction and the horizontal direction, and the inclination directions of the fluid inerters are different.
As a preferred embodiment, the number of the fluid inertors 12 is 6, the 6 fluid inertors 12 are symmetrically arranged on the left side and the right side of the base 11, and the 6 fluid inertors 12 are combined with the spring 13 to replace the existing 6 driving rods, so that the using effect is better.
The limiting buffer mechanism 14 comprises a limiting inertial Rong Qigang and a limiting inertial volume rod 142 connected with the limiting inertial volume cylinder 141, the lower end of the limiting inertial volume cylinder 141 is connected with the base 11 through a universal joint, the upper end of the limiting inertial volume rod 142 is connected with the middle platform 15 through a ball hinge, and the limiting buffer decompression function can be further achieved.
The structure of the active hydraulic compensation platform 2 is explained in detail below, and the active hydraulic compensation platform comprises a plurality of hydraulic lifting mechanisms 21 which are evenly distributed on the middle platform 15, a support column 22 which is arranged at the central position above the middle platform 15, and an upper platform 23 which is arranged above the hydraulic lifting mechanisms 21 and the support column 22, wherein the turntable 3 is arranged above the upper platform 23, the upper end of each hydraulic lifting mechanism 21 is connected with the upper platform 23 through a universal joint, the lower end of each hydraulic lifting mechanism 21 is connected with the middle platform 15 through a universal joint, the lower end of each support column 22 is fixedly connected with the middle platform 15, the upper end of each support column is connected with the upper platform 23 through a universal joint, an attitude sensor is arranged on the upper platform 23, and each hydraulic lifting mechanism 21 comprises a hydraulic oil cylinder 211, an oil cylinder piston rod 212 connected with the hydraulic oil cylinder 211, and an inertial container 213 arranged below the hydraulic oil cylinder; the oil cylinder piston rod 212 is connected with the upper platform 23 through a universal joint, and the lower end of the inertial container 213 is connected with the upper surface of the middle platform 15 through a universal joint.
As a preferred embodiment, four hydraulic lifting mechanisms 21 are provided and evenly distributed on the middle platform 15, and 4 hydraulic lifting mechanisms 21 are adopted to replace 6 hydraulic lifting mechanisms 21 in the prior art, so that the composite stability compensation effect with the passive inertial container vibration damping mechanism 1 is good.
Preferably, the shape and size of the base 11 is larger than that of the middle platform 15, and the shape and size of the upper platform 23 is larger than that of the middle platform 15, so that the center of the compensation platform is reduced, and the stability and the bearing capacity of the compensation platform are improved; furthermore, the shape of the base is a hexagonal plate which is arranged in bilateral symmetry, the shape of the middle platform 15 is the same as that of the base and the size of the middle platform is smaller than that of the base 11, the base 11 and the middle platform 15 are not placed according to the offset position, the upper side and the lower side of the base are reversely installed, and the limiting buffer mechanism 14 and the supporting column 22 are arranged at the gravity center positions of the base 11 and the middle platform 15; the structural design of upper platform 23 is square, and the upper end of support column 22 sets up in the focus position of upper platform to the dimensional design of upper platform 23 and the dimensional design of well platform 15 make hydraulic lifting mechanism 21 be vertical placing and be connected with upper platform 23, well platform 15 respectively.
As shown in fig. 5, the working principle of the active hydraulic compensation platform is as follows: firstly, detecting the posture change of an upper platform by a posture sensor arranged on the upper platform, transmitting the detection data to a main control chip, calculating the displacement amount required to be compensated by four hydraulic cylinders (a cylinder A1, a cylinder A2, a cylinder A3 and a cylinder A4) by a control system, controlling the oil supply of the four electric hydraulic pumps (the electric hydraulic pump M1, the electric hydraulic pump M2, the electric hydraulic pump M3 and the electric hydraulic pump M4) and the forward and reverse power supply time of electromagnets (an electromagnet K10, an electromagnet K11, an electromagnet K20, an electromagnet K21, an electromagnet K30, an electromagnet K31, an electromagnet K40 and an electromagnet K41) of four three-position four-way electromagnetic valves (an electromagnetic valve V1, an electromagnetic valve V2, an electromagnetic valve V3 and an electromagnetic valve V4) to drive the four hydraulic cylinders, and respectively driving the cylinder piston rods of the cylinders A1, the cylinder A2, the cylinder A3 and the cylinder A4 to move; the four oil cylinders (oil cylinder A1, oil cylinder A2, oil cylinder A3 and oil cylinder A4) drive the platform to change the posture, so that the time-varying nonlinear motion of the platform in the rolling and pitching directions and the compensation of the superposition motion in the directions are realized.
The following system illustrates the overall working principle of the present invention: the passive inertial container vibration reduction mechanism 1 of the active and passive composite stable compensation platform does not need to be actively operated, when vibration excitation is carried out, the middle platform 15 and the base 11 generate a relative motion trend in an unknown direction, the relative motion trends in all six directions can enable the 6 fluid inertial containers 12 and the springs 13 to generate a stretching trend, the motion trend can be reduced, so that vibration in all directions between the middle platform 15 and the base 11 is inhibited, an attitude sensor arranged on the upper platform 23 monitors the platform attitude at any time and transmits the platform attitude to a main control chip, data returned by the main control chip drives the 4 hydraulic lifting mechanisms 21 to lift and drive the rotary table 3 to rotate, the rolling, the initial rolling and the pitching of a ship body are compensated, and the upper platform 23 is kept stable.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (8)
1. A stable compensation platform for ocean engineering is characterized by comprising a passive inertial volume damping mechanism (1), an active hydraulic compensation platform (2) arranged above the passive inertial volume damping mechanism (1), a turntable (3) arranged in the middle position above the active hydraulic compensation platform (2), and a rotary driving mechanism connected with the turntable (3), wherein an attitude sensor is also arranged above the active hydraulic compensation platform (2) and below the turntable (3), and the attitude sensor, the passive inertial volume damping mechanism (1), the active hydraulic compensation platform (2) and the rotary driving mechanism are connected with an active chip; ocean engineering equipment is installed on the rotary disc (3).
2. The stabilized compensation platform for ocean engineering according to claim 1, wherein the passive inerter vibration reduction mechanism (1) comprises a base (11), a plurality of fluid inerters (12) arranged above the base (11) and located at the outer circumference thereof, a spring (13) arranged on the fluid inerters (12) and connected with the fluid inerters, a limiting buffer mechanism (14) arranged at the center of the base (11), and a middle platform (15) arranged above the fluid inerters (12) and the limiting buffer mechanism (14), wherein the lower end of the fluid inerter (12) is connected with the base (11) through a universal joint, the upper end of the fluid inerter (12) is connected with the middle platform (15) through a ball hinge, the lower end of the limiting buffer mechanism (14) is connected with the base (11) through a universal joint, and the upper end of the limiting buffer mechanism is connected with the middle platform (15) through a ball hinge.
3. The stabilized compensation platform for ocean engineering according to claim 2, wherein there are 6 fluid inerters (12), and 6 fluid inerters (12) are symmetrically arranged on the left and right sides of the base (11).
4. The stabilized compensation platform for ocean engineering according to claim 2, wherein the limit buffer mechanism (14) comprises a limit inerter cylinder (141) and a limit inerter rod (142) connected with the limit inerter cylinder (141), the lower end of the limit inerter cylinder (141) is connected with the base (11) through a universal joint, and the upper end of the limit inerter rod (142) is connected with the middle platform (15) through a ball hinge.
5. The stabilized compensation platform for ocean engineering according to claim 2, wherein the active hydraulic compensation platform (2) comprises a plurality of hydraulic lifting mechanisms (21) evenly distributed on the middle platform (15), a support column (22) arranged at a central position above the middle platform (15), and an upper platform (23) arranged above the hydraulic lifting mechanisms (21) and the support column (22), the turntable (3) is arranged above the upper platform (23), the upper end of the hydraulic lifting mechanism (21) is connected with the upper platform (23) through a universal joint, the lower end of the hydraulic lifting mechanism is connected with the middle platform (15) through a universal joint, the lower end of the support column (22) is fixedly connected with the middle platform (15), the upper end of the support column is connected with the upper platform (23) through a universal joint, and the attitude sensor is arranged on the upper platform (23).
6. A stabilized compensating platform for oceanographic engineering according to claim 5, characterized in that the hydraulic lifting mechanisms (21) are provided in four and equally distributed on the intermediate platform (15).
7. The stabilized compensation platform for ocean engineering according to claim 1, wherein the hydraulic lifting mechanism (21) comprises a hydraulic oil cylinder (211), an oil cylinder piston rod (212) connected with the hydraulic oil cylinder (211), and an inertial container (213) arranged below the hydraulic oil cylinder (211); the oil cylinder piston rod (212) is connected with the upper platform (23) through a universal joint, and the lower end of the inertial container (213) is connected with the upper surface of the middle platform (15) through the universal joint.
8. A stabilized compensating platform for sea works according to claim 6, characterized in that the rotary driving mechanism is built in the turntable (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211597588.4A CN115837963B (en) | 2022-12-12 | 2022-12-12 | A stable compensation platform for ocean engineering |
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| CN202211597588.4A CN115837963B (en) | 2022-12-12 | 2022-12-12 | A stable compensation platform for ocean engineering |
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| CN115837963B CN115837963B (en) | 2024-05-03 |
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2022
- 2022-12-12 CN CN202211597588.4A patent/CN115837963B/en active Active
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| CN1523546A (en) * | 2003-09-03 | 2004-08-25 | 浙江大学 | Hydraulic and gravitational balancing type space motion simulator equilibrium |
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